<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: pcl::LCCPSegmentation&lt; PointT &gt; 模板类 参考</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('classpcl_1_1_l_c_c_p_segmentation.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#nested-classes">类</a> &#124;
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1_l_c_c_p_segmentation-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::LCCPSegmentation&lt; PointT &gt; 模板类 参考</div>  </div>
</div><!--header-->
<div class="contents">

<p>A simple segmentation algorithm partitioning a supervoxel graph into groups of locally convex connected supervoxels separated by concave borders.  
 <a href="classpcl_1_1_l_c_c_p_segmentation.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="lccp__segmentation_8h_source.html">lccp_segmentation.h</a>&gt;</code></p>
<div class="dynheader">
类 pcl::LCCPSegmentation&lt; PointT &gt; 继承关系图:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classpcl_1_1_l_c_c_p_segmentation.png" usemap="#pcl::LCCPSegmentation_3C_20PointT_20_3E_map" alt=""/>
  <map id="pcl::LCCPSegmentation_3C_20PointT_20_3E_map" name="pcl::LCCPSegmentation_3C_20PointT_20_3E_map">
<area href="classpcl_1_1_c_p_c_segmentation.html" title="A segmentation algorithm partitioning a supervoxel graph. It uses planar cuts induced by local concav..." alt="pcl::CPCSegmentation&lt; PointT &gt;" shape="rect" coords="0,56,202,80"/>
  </map>
</div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html">EdgeProperties</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1_edge.html">Edge</a> Properties stored in the adjacency graph.  <a href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html#details">更多...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a1c2eb66ea772fab4b9cc938bfb124e3b"><td class="memItemLeft" align="right" valign="top"><a id="a1c2eb66ea772fab4b9cc938bfb124e3b"></a>
typedef boost::adjacency_list&lt; boost::setS, boost::setS, boost::undirectedS, uint32_t, <a class="el" href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html">EdgeProperties</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SupervoxelAdjacencyList</b></td></tr>
<tr class="separator:a1c2eb66ea772fab4b9cc938bfb124e3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7c1ae820fe571a812141ed1becd76782"><td class="memItemLeft" align="right" valign="top"><a id="a7c1ae820fe571a812141ed1becd76782"></a>
typedef boost::graph_traits&lt; SupervoxelAdjacencyList &gt;::vertex_iterator&#160;</td><td class="memItemRight" valign="bottom"><b>VertexIterator</b></td></tr>
<tr class="separator:a7c1ae820fe571a812141ed1becd76782"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a04491d410e22c02b7d929fce0124cc69"><td class="memItemLeft" align="right" valign="top"><a id="a04491d410e22c02b7d929fce0124cc69"></a>
typedef boost::graph_traits&lt; SupervoxelAdjacencyList &gt;::adjacency_iterator&#160;</td><td class="memItemRight" valign="bottom"><b>AdjacencyIterator</b></td></tr>
<tr class="separator:a04491d410e22c02b7d929fce0124cc69"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac1008d34ae53627ce8bd51bd04ff7571"><td class="memItemLeft" align="right" valign="top"><a id="ac1008d34ae53627ce8bd51bd04ff7571"></a>
typedef boost::graph_traits&lt; SupervoxelAdjacencyList &gt;::vertex_descriptor&#160;</td><td class="memItemRight" valign="bottom"><b>VertexID</b></td></tr>
<tr class="separator:ac1008d34ae53627ce8bd51bd04ff7571"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae3f738a80bfffac4f89c43c48e7df213"><td class="memItemLeft" align="right" valign="top"><a id="ae3f738a80bfffac4f89c43c48e7df213"></a>
typedef boost::graph_traits&lt; SupervoxelAdjacencyList &gt;::edge_iterator&#160;</td><td class="memItemRight" valign="bottom"><b>EdgeIterator</b></td></tr>
<tr class="separator:ae3f738a80bfffac4f89c43c48e7df213"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aad0a5b82dfe5cf59481ba0e8bcae5323"><td class="memItemLeft" align="right" valign="top"><a id="aad0a5b82dfe5cf59481ba0e8bcae5323"></a>
typedef boost::graph_traits&lt; SupervoxelAdjacencyList &gt;::out_edge_iterator&#160;</td><td class="memItemRight" valign="bottom"><b>OutEdgeIterator</b></td></tr>
<tr class="separator:aad0a5b82dfe5cf59481ba0e8bcae5323"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac5b56b02f769a92c815ff98ee63b497e"><td class="memItemLeft" align="right" valign="top"><a id="ac5b56b02f769a92c815ff98ee63b497e"></a>
typedef boost::graph_traits&lt; SupervoxelAdjacencyList &gt;::edge_descriptor&#160;</td><td class="memItemRight" valign="bottom"><b>EdgeID</b></td></tr>
<tr class="separator:ac5b56b02f769a92c815ff98ee63b497e"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:af5a6ac69bde329584570506c7c78b9af"><td class="memItemLeft" align="right" valign="top"><a id="af5a6ac69bde329584570506c7c78b9af"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#af5a6ac69bde329584570506c7c78b9af">reset</a> ()</td></tr>
<tr class="memdesc:af5a6ac69bde329584570506c7c78b9af"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset internal memory. <br  />
 <br /></td></tr>
<tr class="separator:af5a6ac69bde329584570506c7c78b9af"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a097a5b8996de53f1d955747eacbc8e8e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a097a5b8996de53f1d955747eacbc8e8e">setInputSupervoxels</a> (const std::map&lt; uint32_t, typename <a class="el" href="classpcl_1_1_supervoxel.html">pcl::Supervoxel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Ptr &gt; &amp;supervoxel_clusters_arg, const std::multimap&lt; uint32_t, uint32_t &gt; &amp;label_adjacency_arg)</td></tr>
<tr class="memdesc:a097a5b8996de53f1d955747eacbc8e8e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the supervoxel clusters as well as the adjacency graph for the segmentation.Those parameters are generated by using the <a class="el" href="classpcl_1_1_supervoxel_clustering.html">SupervoxelClustering</a> class. To retrieve the output use the <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a8ef6896e6fabc91e26f7f9dfff757753">segment</a> method.  <a href="classpcl_1_1_l_c_c_p_segmentation.html#a097a5b8996de53f1d955747eacbc8e8e">更多...</a><br /></td></tr>
<tr class="separator:a097a5b8996de53f1d955747eacbc8e8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8ef6896e6fabc91e26f7f9dfff757753"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a8ef6896e6fabc91e26f7f9dfff757753">segment</a> ()</td></tr>
<tr class="memdesc:a8ef6896e6fabc91e26f7f9dfff757753"><td class="mdescLeft">&#160;</td><td class="mdescRight">Merge supervoxels using local convexity. The input parameters are generated by using the <a class="el" href="classpcl_1_1_supervoxel_clustering.html">SupervoxelClustering</a> class. To retrieve the output use the <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a73b148531688cdb949bb9185e6ada8e9">relabelCloud</a> method.  <a href="classpcl_1_1_l_c_c_p_segmentation.html#a8ef6896e6fabc91e26f7f9dfff757753">更多...</a><br /></td></tr>
<tr class="separator:a8ef6896e6fabc91e26f7f9dfff757753"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a73b148531688cdb949bb9185e6ada8e9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a73b148531688cdb949bb9185e6ada8e9">relabelCloud</a> (<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_l.html">pcl::PointXYZL</a> &gt; &amp;labeled_cloud_arg)</td></tr>
<tr class="memdesc:a73b148531688cdb949bb9185e6ada8e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Relabels cloud with supervoxel labels with the computed segment labels. labeled_cloud_arg should be created using the getLabeledCloud method of the <a class="el" href="classpcl_1_1_supervoxel_clustering.html">SupervoxelClustering</a> class.  <a href="classpcl_1_1_l_c_c_p_segmentation.html#a73b148531688cdb949bb9185e6ada8e9">更多...</a><br /></td></tr>
<tr class="separator:a73b148531688cdb949bb9185e6ada8e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac07470079debf27fbd456e57995c4c2d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#ac07470079debf27fbd456e57995c4c2d">getSegmentToSupervoxelMap</a> (std::map&lt; uint32_t, std::set&lt; uint32_t &gt; &gt; &amp;segment_supervoxel_map_arg) const</td></tr>
<tr class="memdesc:ac07470079debf27fbd456e57995c4c2d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get map&lt;SegmentID, std::set&lt;SuperVoxel IDs&gt; &gt;  <a href="classpcl_1_1_l_c_c_p_segmentation.html#ac07470079debf27fbd456e57995c4c2d">更多...</a><br /></td></tr>
<tr class="separator:ac07470079debf27fbd456e57995c4c2d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac99912aeb217065259bff30d7d526a35"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#ac99912aeb217065259bff30d7d526a35">getSupervoxelToSegmentMap</a> (std::map&lt; uint32_t, uint32_t &gt; &amp;supervoxel_segment_map_arg) const</td></tr>
<tr class="memdesc:ac99912aeb217065259bff30d7d526a35"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get map&lt;Supervoxel_ID, Segment_ID&gt;  <a href="classpcl_1_1_l_c_c_p_segmentation.html#ac99912aeb217065259bff30d7d526a35">更多...</a><br /></td></tr>
<tr class="separator:ac99912aeb217065259bff30d7d526a35"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af5753af2e6779ce28ddc3ae6c137893d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#af5753af2e6779ce28ddc3ae6c137893d">getSegmentAdjacencyMap</a> (std::map&lt; uint32_t, std::set&lt; uint32_t &gt; &gt; &amp;segment_adjacency_map_arg)</td></tr>
<tr class="memdesc:af5753af2e6779ce28ddc3ae6c137893d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get map &lt;SegmentID, std::set&lt;Neighboring SegmentIDs&gt; &gt;  <a href="classpcl_1_1_l_c_c_p_segmentation.html#af5753af2e6779ce28ddc3ae6c137893d">更多...</a><br /></td></tr>
<tr class="separator:af5753af2e6779ce28ddc3ae6c137893d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac4d9e71e46c6be921687146b33e9deed"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#ac4d9e71e46c6be921687146b33e9deed">getConcavityToleranceThreshold</a> () const</td></tr>
<tr class="memdesc:ac4d9e71e46c6be921687146b33e9deed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get normal threshold  <a href="classpcl_1_1_l_c_c_p_segmentation.html#ac4d9e71e46c6be921687146b33e9deed">更多...</a><br /></td></tr>
<tr class="separator:ac4d9e71e46c6be921687146b33e9deed"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aed49f8015934b23055f2d307a8ee9f01"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#aed49f8015934b23055f2d307a8ee9f01">getSVAdjacencyList</a> (SupervoxelAdjacencyList &amp;adjacency_list_arg) const</td></tr>
<tr class="memdesc:aed49f8015934b23055f2d307a8ee9f01"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the supervoxel adjacency graph with classified edges (boost::adjacency_list).  <a href="classpcl_1_1_l_c_c_p_segmentation.html#aed49f8015934b23055f2d307a8ee9f01">更多...</a><br /></td></tr>
<tr class="separator:aed49f8015934b23055f2d307a8ee9f01"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abc2b7be596c2785fb8664922bbca7177"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#abc2b7be596c2785fb8664922bbca7177">setConcavityToleranceThreshold</a> (float concavity_tolerance_threshold_arg)</td></tr>
<tr class="memdesc:abc2b7be596c2785fb8664922bbca7177"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set normal threshold  <a href="classpcl_1_1_l_c_c_p_segmentation.html#abc2b7be596c2785fb8664922bbca7177">更多...</a><br /></td></tr>
<tr class="separator:abc2b7be596c2785fb8664922bbca7177"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a391f12ac00e266066391bbff3fd1d823"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a391f12ac00e266066391bbff3fd1d823">setSmoothnessCheck</a> (bool use_smoothness_check_arg, float voxel_res_arg, float seed_res_arg, float smoothness_threshold_arg=0.1)</td></tr>
<tr class="memdesc:a391f12ac00e266066391bbff3fd1d823"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determines if a smoothness check is done during segmentation, trying to invalidate edges of non-smooth connected edges (steps). Two supervoxels are unsmooth if their plane-to-plane distance DIST &gt; (expected_distance + smoothness_threshold_*voxel_resolution_). For parallel supervoxels, the expected_distance is zero.  <a href="classpcl_1_1_l_c_c_p_segmentation.html#a391f12ac00e266066391bbff3fd1d823">更多...</a><br /></td></tr>
<tr class="separator:a391f12ac00e266066391bbff3fd1d823"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afcbcd533f01655310bec5f17c5213c65"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#afcbcd533f01655310bec5f17c5213c65">setSanityCheck</a> (const bool use_sanity_criterion_arg)</td></tr>
<tr class="memdesc:afcbcd533f01655310bec5f17c5213c65"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determines if we want to use the sanity criterion to invalidate singular connected patches  <a href="classpcl_1_1_l_c_c_p_segmentation.html#afcbcd533f01655310bec5f17c5213c65">更多...</a><br /></td></tr>
<tr class="separator:afcbcd533f01655310bec5f17c5213c65"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:affa15262ca3f2713ee31412d88697d36"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#affa15262ca3f2713ee31412d88697d36">setKFactor</a> (const uint32_t k_factor_arg)</td></tr>
<tr class="memdesc:affa15262ca3f2713ee31412d88697d36"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the value used for k convexity. For k&gt;0 convex connections between p_i and p_j require k common neighbors of these patches that have a convex connection to both.  <a href="classpcl_1_1_l_c_c_p_segmentation.html#affa15262ca3f2713ee31412d88697d36">更多...</a><br /></td></tr>
<tr class="separator:affa15262ca3f2713ee31412d88697d36"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a700734f0f748fdda3110c7924232e9c9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a700734f0f748fdda3110c7924232e9c9">setMinSegmentSize</a> (const uint32_t min_segment_size_arg)</td></tr>
<tr class="memdesc:a700734f0f748fdda3110c7924232e9c9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the value <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a3cbd29b0450bed2d70257ab13bf5bf38">min_segment_size_</a> used in <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a7f0ada4d9a4918d9dbb9e33e32b23d46">mergeSmallSegments</a>  <a href="classpcl_1_1_l_c_c_p_segmentation.html#a700734f0f748fdda3110c7924232e9c9">更多...</a><br /></td></tr>
<tr class="separator:a700734f0f748fdda3110c7924232e9c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a7f0ada4d9a4918d9dbb9e33e32b23d46"><td class="memItemLeft" align="right" valign="top"><a id="a7f0ada4d9a4918d9dbb9e33e32b23d46"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a7f0ada4d9a4918d9dbb9e33e32b23d46">mergeSmallSegments</a> ()</td></tr>
<tr class="memdesc:a7f0ada4d9a4918d9dbb9e33e32b23d46"><td class="mdescLeft">&#160;</td><td class="mdescRight">Segments smaller than <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a3cbd29b0450bed2d70257ab13bf5bf38">min_segment_size_</a> are merged to the label of largest neighbor <br /></td></tr>
<tr class="separator:a7f0ada4d9a4918d9dbb9e33e32b23d46"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6a3d6ce5b725f4ba8989654bcb94c1e5"><td class="memItemLeft" align="right" valign="top"><a id="a6a3d6ce5b725f4ba8989654bcb94c1e5"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a6a3d6ce5b725f4ba8989654bcb94c1e5">computeSegmentAdjacency</a> ()</td></tr>
<tr class="memdesc:a6a3d6ce5b725f4ba8989654bcb94c1e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the adjacency of the segments <br /></td></tr>
<tr class="separator:a6a3d6ce5b725f4ba8989654bcb94c1e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6336316795782b93b5caef627f2c4051"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a6336316795782b93b5caef627f2c4051">prepareSegmentation</a> (const std::map&lt; uint32_t, typename <a class="el" href="classpcl_1_1_supervoxel.html">pcl::Supervoxel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Ptr &gt; &amp;supervoxel_clusters_arg, const std::multimap&lt; uint32_t, uint32_t &gt; &amp;label_adjacency_arg)</td></tr>
<tr class="memdesc:a6336316795782b93b5caef627f2c4051"><td class="mdescLeft">&#160;</td><td class="mdescRight">Is called within <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a097a5b8996de53f1d955747eacbc8e8e">setInputSupervoxels</a> mainly to reserve required memory.  <a href="classpcl_1_1_l_c_c_p_segmentation.html#a6336316795782b93b5caef627f2c4051">更多...</a><br /></td></tr>
<tr class="separator:a6336316795782b93b5caef627f2c4051"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad1a810ce20594b9a9309c29f089f0d18"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#ad1a810ce20594b9a9309c29f089f0d18">doGrouping</a> ()</td></tr>
<tr class="separator:ad1a810ce20594b9a9309c29f089f0d18"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4a492a4362ba841361155407ef78c00e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a4a492a4362ba841361155407ef78c00e">recursiveSegmentGrowing</a> (const VertexID &amp;queryPointID, const unsigned int group_label)</td></tr>
<tr class="memdesc:a4a492a4362ba841361155407ef78c00e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assigns neighbors of the query point to the same group as the query point. Recursive part of <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#ad1a810ce20594b9a9309c29f089f0d18">doGrouping</a>. Grouping is done by a depth-search of nodes in the adjacency-graph.  <a href="classpcl_1_1_l_c_c_p_segmentation.html#a4a492a4362ba841361155407ef78c00e">更多...</a><br /></td></tr>
<tr class="separator:a4a492a4362ba841361155407ef78c00e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a64ade0e74f07da2c8100a1a9d5d46e00"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a64ade0e74f07da2c8100a1a9d5d46e00">calculateConvexConnections</a> (SupervoxelAdjacencyList &amp;adjacency_list_arg)</td></tr>
<tr class="memdesc:a64ade0e74f07da2c8100a1a9d5d46e00"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates convexity of edges and saves this to the adjacency graph.  <a href="classpcl_1_1_l_c_c_p_segmentation.html#a64ade0e74f07da2c8100a1a9d5d46e00">更多...</a><br /></td></tr>
<tr class="separator:a64ade0e74f07da2c8100a1a9d5d46e00"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad918a280410d18af75bad10b3134e5ab"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#ad918a280410d18af75bad10b3134e5ab">applyKconvexity</a> (const unsigned int k_arg)</td></tr>
<tr class="memdesc:ad918a280410d18af75bad10b3134e5ab"><td class="mdescLeft">&#160;</td><td class="mdescRight">Connections are only convex if this is true for at least k_arg common neighbors of the two patches. Call <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#affa15262ca3f2713ee31412d88697d36">setKFactor</a> before <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a8ef6896e6fabc91e26f7f9dfff757753">segment</a> to use this.  <a href="classpcl_1_1_l_c_c_p_segmentation.html#ad918a280410d18af75bad10b3134e5ab">更多...</a><br /></td></tr>
<tr class="separator:ad918a280410d18af75bad10b3134e5ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab7189d3e7ad6bcb44b995664c6a0b77e"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#ab7189d3e7ad6bcb44b995664c6a0b77e">connIsConvex</a> (const uint32_t source_label_arg, const uint32_t target_label_arg, float &amp;normal_angle)</td></tr>
<tr class="memdesc:ab7189d3e7ad6bcb44b995664c6a0b77e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if the connection between source and target is convex.  <a href="classpcl_1_1_l_c_c_p_segmentation.html#ab7189d3e7ad6bcb44b995664c6a0b77e">更多...</a><br /></td></tr>
<tr class="separator:ab7189d3e7ad6bcb44b995664c6a0b77e"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a90f2ad90bee047f31f2c9ad4f3b0c158"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a90f2ad90bee047f31f2c9ad4f3b0c158">concavity_tolerance_threshold_</a></td></tr>
<tr class="memdesc:a90f2ad90bee047f31f2c9ad4f3b0c158"><td class="mdescLeft">&#160;</td><td class="mdescRight">*** Parameters *** ///  <a href="classpcl_1_1_l_c_c_p_segmentation.html#a90f2ad90bee047f31f2c9ad4f3b0c158">更多...</a><br /></td></tr>
<tr class="separator:a90f2ad90bee047f31f2c9ad4f3b0c158"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a428e19cb5f6711c7d2e20f31472a876a"><td class="memItemLeft" align="right" valign="top"><a id="a428e19cb5f6711c7d2e20f31472a876a"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a428e19cb5f6711c7d2e20f31472a876a">grouping_data_valid_</a></td></tr>
<tr class="memdesc:a428e19cb5f6711c7d2e20f31472a876a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Marks if valid grouping data (<a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>, <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#afb6ff37d270e3f16c69c46560a1fafce">sv_label_to_seg_label_map_</a>, <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a40779a978d7208a82cc9421c4033a1e4">processed_</a>) is avaiable <br /></td></tr>
<tr class="separator:a428e19cb5f6711c7d2e20f31472a876a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0ebcf3b12da8ec8ff9029a4bc77292b6"><td class="memItemLeft" align="right" valign="top"><a id="a0ebcf3b12da8ec8ff9029a4bc77292b6"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a0ebcf3b12da8ec8ff9029a4bc77292b6">supervoxels_set_</a></td></tr>
<tr class="memdesc:a0ebcf3b12da8ec8ff9029a4bc77292b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Marks if supervoxels have been set by calling <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a097a5b8996de53f1d955747eacbc8e8e">setInputSupervoxels</a> <br /></td></tr>
<tr class="separator:a0ebcf3b12da8ec8ff9029a4bc77292b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6c58a7748116a2fa0e9d820ffadb718a"><td class="memItemLeft" align="right" valign="top"><a id="a6c58a7748116a2fa0e9d820ffadb718a"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a6c58a7748116a2fa0e9d820ffadb718a">use_smoothness_check_</a></td></tr>
<tr class="memdesc:a6c58a7748116a2fa0e9d820ffadb718a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determines if the smoothness check is used during segmentation <br /></td></tr>
<tr class="separator:a6c58a7748116a2fa0e9d820ffadb718a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa4b03eeae0ef4422a5e49b41455a098d"><td class="memItemLeft" align="right" valign="top"><a id="aa4b03eeae0ef4422a5e49b41455a098d"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#aa4b03eeae0ef4422a5e49b41455a098d">smoothness_threshold_</a></td></tr>
<tr class="memdesc:aa4b03eeae0ef4422a5e49b41455a098d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Two supervoxels are unsmooth if their plane-to-plane distance DIST &gt; (expected_distance + smoothness_threshold_*voxel_resolution_). For parallel supervoxels, the expected_distance is zero. <br /></td></tr>
<tr class="separator:aa4b03eeae0ef4422a5e49b41455a098d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a728844e11f8848c7400d7875bae92800"><td class="memItemLeft" align="right" valign="top"><a id="a728844e11f8848c7400d7875bae92800"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a728844e11f8848c7400d7875bae92800">use_sanity_check_</a></td></tr>
<tr class="memdesc:a728844e11f8848c7400d7875bae92800"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determines if we use the sanity check which tries to find and invalidate singular connected patches <br /></td></tr>
<tr class="separator:a728844e11f8848c7400d7875bae92800"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa9f7011e99af9d3849937ff5370c2e11"><td class="memItemLeft" align="right" valign="top"><a id="aa9f7011e99af9d3849937ff5370c2e11"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#aa9f7011e99af9d3849937ff5370c2e11">seed_resolution_</a></td></tr>
<tr class="memdesc:aa9f7011e99af9d3849937ff5370c2e11"><td class="mdescLeft">&#160;</td><td class="mdescRight">Seed resolution of the supervoxels (used only for smoothness check) <br /></td></tr>
<tr class="separator:aa9f7011e99af9d3849937ff5370c2e11"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0998d8eabad97e8dbc57973b28d4b389"><td class="memItemLeft" align="right" valign="top"><a id="a0998d8eabad97e8dbc57973b28d4b389"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a0998d8eabad97e8dbc57973b28d4b389">voxel_resolution_</a></td></tr>
<tr class="memdesc:a0998d8eabad97e8dbc57973b28d4b389"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel resolution used to build the supervoxels (used only for smoothness check) <br /></td></tr>
<tr class="separator:a0998d8eabad97e8dbc57973b28d4b389"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab56b15cb177706d688e6773368e123e2"><td class="memItemLeft" align="right" valign="top"><a id="ab56b15cb177706d688e6773368e123e2"></a>
uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#ab56b15cb177706d688e6773368e123e2">k_factor_</a></td></tr>
<tr class="memdesc:ab56b15cb177706d688e6773368e123e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Factor used for k-convexity <br /></td></tr>
<tr class="separator:ab56b15cb177706d688e6773368e123e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3cbd29b0450bed2d70257ab13bf5bf38"><td class="memItemLeft" align="right" valign="top"><a id="a3cbd29b0450bed2d70257ab13bf5bf38"></a>
uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a3cbd29b0450bed2d70257ab13bf5bf38">min_segment_size_</a></td></tr>
<tr class="memdesc:a3cbd29b0450bed2d70257ab13bf5bf38"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum segment size <br /></td></tr>
<tr class="separator:a3cbd29b0450bed2d70257ab13bf5bf38"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a40779a978d7208a82cc9421c4033a1e4"><td class="memItemLeft" align="right" valign="top">std::map&lt; uint32_t, bool &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a40779a978d7208a82cc9421c4033a1e4">processed_</a></td></tr>
<tr class="memdesc:a40779a978d7208a82cc9421c4033a1e4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stores which supervoxel labels were already visited during recursive grouping. <br  />
  <a href="classpcl_1_1_l_c_c_p_segmentation.html#a40779a978d7208a82cc9421c4033a1e4">更多...</a><br /></td></tr>
<tr class="separator:a40779a978d7208a82cc9421c4033a1e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adff367bb7eab2ec652da194f36ad2ab4"><td class="memItemLeft" align="right" valign="top"><a id="adff367bb7eab2ec652da194f36ad2ab4"></a>
SupervoxelAdjacencyList&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a></td></tr>
<tr class="memdesc:adff367bb7eab2ec652da194f36ad2ab4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adjacency graph with the supervoxel labels as nodes and edges between adjacent supervoxels <br /></td></tr>
<tr class="separator:adff367bb7eab2ec652da194f36ad2ab4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6e8c0fd169543d42903904b02d36239b"><td class="memItemLeft" align="right" valign="top"><a id="a6e8c0fd169543d42903904b02d36239b"></a>
std::map&lt; uint32_t, typename <a class="el" href="classpcl_1_1_supervoxel.html">pcl::Supervoxel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Ptr &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a6e8c0fd169543d42903904b02d36239b">sv_label_to_supervoxel_map_</a></td></tr>
<tr class="memdesc:a6e8c0fd169543d42903904b02d36239b"><td class="mdescLeft">&#160;</td><td class="mdescRight">map from the supervoxel labels to the supervoxel objects <br  />
 <br /></td></tr>
<tr class="separator:a6e8c0fd169543d42903904b02d36239b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb6ff37d270e3f16c69c46560a1fafce"><td class="memItemLeft" align="right" valign="top">std::map&lt; uint32_t, uint32_t &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#afb6ff37d270e3f16c69c46560a1fafce">sv_label_to_seg_label_map_</a></td></tr>
<tr class="memdesc:afb6ff37d270e3f16c69c46560a1fafce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Storing relation between original SuperVoxel Labels and new segmantion labels.  <a href="classpcl_1_1_l_c_c_p_segmentation.html#afb6ff37d270e3f16c69c46560a1fafce">更多...</a><br /></td></tr>
<tr class="separator:afb6ff37d270e3f16c69c46560a1fafce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af38c9be4e674843ba21de27b73ca0189"><td class="memItemLeft" align="right" valign="top"><a id="af38c9be4e674843ba21de27b73ca0189"></a>
std::map&lt; uint32_t, std::set&lt; uint32_t &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#af38c9be4e674843ba21de27b73ca0189">seg_label_to_sv_list_map_</a></td></tr>
<tr class="memdesc:af38c9be4e674843ba21de27b73ca0189"><td class="mdescLeft">&#160;</td><td class="mdescRight">map &lt;Segment <a class="el" href="structpcl_1_1_label.html">Label</a>, std::set &lt;SuperVoxel Labels&gt; &gt; <br /></td></tr>
<tr class="separator:af38c9be4e674843ba21de27b73ca0189"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7f426262406a9f9cec6248cdfa5a205c"><td class="memItemLeft" align="right" valign="top"><a id="a7f426262406a9f9cec6248cdfa5a205c"></a>
std::map&lt; uint32_t, std::set&lt; uint32_t &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a7f426262406a9f9cec6248cdfa5a205c">seg_label_to_neighbor_set_map_</a></td></tr>
<tr class="memdesc:a7f426262406a9f9cec6248cdfa5a205c"><td class="mdescLeft">&#160;</td><td class="mdescRight">map &lt; SegmentID, std::set&lt; Neighboring segment labels&gt; &gt; <br /></td></tr>
<tr class="separator:a7f426262406a9f9cec6248cdfa5a205c"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::LCCPSegmentation&lt; PointT &gt;</h3>

<p>A simple segmentation algorithm partitioning a supervoxel graph into groups of locally convex connected supervoxels separated by concave borders. </p>
<dl class="section note"><dt>注解</dt><dd>If you use this in a scientific work please cite the following paper: S. C. Stein, M. Schoeler, J. Papon, F. Woergoetter <a class="el" href="class_object.html">Object</a> Partitioning using Local Convexity In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2014 </dd></dl>
<dl class="section author"><dt>作者</dt><dd>Simon Christoph Stein and Markus Schoeler (<a href="#" onclick="location.href='mai'+'lto:'+'msc'+'ho'+'ele'+'r@'+'gwd'+'g.'+'de'; return false;">mscho<span style="display: none;">.nosp@m.</span>eler<span style="display: none;">.nosp@m.</span>@gwdg<span style="display: none;">.nosp@m.</span>.de</a>) </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="ad918a280410d18af75bad10b3134e5ab"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad918a280410d18af75bad10b3134e5ab">&#9670;&nbsp;</a></span>applyKconvexity()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::applyKconvexity </td>
          <td>(</td>
          <td class="paramtype">const unsigned int&#160;</td>
          <td class="paramname"><em>k_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Connections are only convex if this is true for at least k_arg common neighbors of the two patches. Call <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#affa15262ca3f2713ee31412d88697d36">setKFactor</a> before <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a8ef6896e6fabc91e26f7f9dfff757753">segment</a> to use this. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">k_arg</td><td>Factor used for extended convexity check </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;{</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;  <span class="keywordflow">if</span> (k_arg == 0)</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  <span class="keywordtype">bool</span> is_convex;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> kcount = 0;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160; </div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  EdgeIterator edge_itr, edge_itr_end, next_edge;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  boost::tie (edge_itr, edge_itr_end) = boost::edges (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>);</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160; </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  std::pair&lt;OutEdgeIterator, OutEdgeIterator&gt; source_neighbors_range;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  std::pair&lt;OutEdgeIterator, OutEdgeIterator&gt; target_neighbors_range;</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160; </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  <span class="comment">// Check all edges in the graph for k-convexity</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  <span class="keywordflow">for</span> (next_edge = edge_itr; edge_itr != edge_itr_end; edge_itr = next_edge)</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  {</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    next_edge++;  <span class="comment">// next_edge iterator is neccessary, because removing an edge invalidates the iterator to the current edge</span></div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    is_convex = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>[*edge_itr].is_convex;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    <span class="keywordflow">if</span> (is_convex)  <span class="comment">// If edge is (0-)convex</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    {</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      kcount = 0;</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160; </div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      <span class="keyword">const</span> VertexID source = boost::source (*edge_itr, <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>);</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      <span class="keyword">const</span> VertexID target = boost::target (*edge_itr, <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>);</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      source_neighbors_range = boost::out_edges (source, <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>);</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      target_neighbors_range = boost::out_edges (target, <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>);</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160; </div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      <span class="comment">// Find common neighbors, check their connection</span></div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      <span class="keywordflow">for</span> (OutEdgeIterator source_neighbors_itr = source_neighbors_range.first; source_neighbors_itr != source_neighbors_range.second; ++source_neighbors_itr)  <span class="comment">// For all supervoxels</span></div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;      {</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;        VertexID source_neighbor_ID = boost::target (*source_neighbors_itr, <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>);</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160; </div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;        <span class="keywordflow">for</span> (OutEdgeIterator target_neighbors_itr = target_neighbors_range.first; target_neighbors_itr != target_neighbors_range.second; ++target_neighbors_itr)  <span class="comment">// For all supervoxels</span></div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;        {</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;          VertexID target_neighbor_ID = boost::target (*target_neighbors_itr, <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>);</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;          <span class="keywordflow">if</span> (source_neighbor_ID == target_neighbor_ID)  <span class="comment">// Common neighbor</span></div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;          {</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;            EdgeID src_edge = boost::edge (source, source_neighbor_ID, <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>).first;</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;            EdgeID tar_edge = boost::edge (target, source_neighbor_ID, <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>).first;</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160; </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;            <span class="keywordtype">bool</span> src_is_convex = (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>)[src_edge].is_convex;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;            <span class="keywordtype">bool</span> tar_is_convex = (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>)[tar_edge].is_convex;</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;            <span class="keywordflow">if</span> (src_is_convex &amp;&amp; tar_is_convex)</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;              ++kcount;</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;          }</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        }</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160; </div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        <span class="keywordflow">if</span> (kcount &gt;= k_arg)  <span class="comment">// Connection is k-convex, stop search</span></div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;      }</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160; </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;      <span class="comment">// Check k convexity</span></div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;      <span class="keywordflow">if</span> (kcount &lt; k_arg)</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>)[*edge_itr].is_valid = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    }</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;  }</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_adff367bb7eab2ec652da194f36ad2ab4"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">pcl::LCCPSegmentation::sv_adjacency_list_</a></div><div class="ttdeci">SupervoxelAdjacencyList sv_adjacency_list_</div><div class="ttdoc">Adjacency graph with the supervoxel labels as nodes and edges between adjacent supervoxels</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:336</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a64ade0e74f07da2c8100a1a9d5d46e00"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a64ade0e74f07da2c8100a1a9d5d46e00">&#9670;&nbsp;</a></span>calculateConvexConnections()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::calculateConvexConnections </td>
          <td>(</td>
          <td class="paramtype">SupervoxelAdjacencyList &amp;&#160;</td>
          <td class="paramname"><em>adjacency_list_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Calculates convexity of edges and saves this to the adjacency graph. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in,out]</td><td class="paramname">adjacency_list_arg</td><td>The supervoxel adjacency list </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;{</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;  <span class="keywordtype">bool</span> is_convex;</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  EdgeIterator edge_itr, edge_itr_end, next_edge;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;  boost::tie (edge_itr, edge_itr_end) = boost::edges (adjacency_list_arg);</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;  <span class="keywordflow">for</span> (next_edge = edge_itr; edge_itr != edge_itr_end; edge_itr = next_edge)</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;  {</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;    next_edge++;  <span class="comment">// next_edge iterator is neccessary, because removing an edge invalidates the iterator to the current edge</span></div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160; </div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;    uint32_t source_sv_label = adjacency_list_arg[boost::source (*edge_itr, adjacency_list_arg)];</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;    uint32_t target_sv_label = adjacency_list_arg[boost::target (*edge_itr, adjacency_list_arg)];</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160; </div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    <span class="keywordtype">float</span> normal_difference;</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;    is_convex = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#ab7189d3e7ad6bcb44b995664c6a0b77e">connIsConvex</a> (source_sv_label, target_sv_label, normal_difference);</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;    adjacency_list_arg[*edge_itr].is_convex = is_convex;</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    adjacency_list_arg[*edge_itr].is_valid = is_convex;</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    adjacency_list_arg[*edge_itr].normal_difference = normal_difference;</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;  }</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_ab7189d3e7ad6bcb44b995664c6a0b77e"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#ab7189d3e7ad6bcb44b995664c6a0b77e">pcl::LCCPSegmentation::connIsConvex</a></div><div class="ttdeci">bool connIsConvex(const uint32_t source_label_arg, const uint32_t target_label_arg, float &amp;normal_angle)</div><div class="ttdoc">Returns true if the connection between source and target is convex.</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:460</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="ab7189d3e7ad6bcb44b995664c6a0b77e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab7189d3e7ad6bcb44b995664c6a0b77e">&#9670;&nbsp;</a></span>connIsConvex()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::connIsConvex </td>
          <td>(</td>
          <td class="paramtype">const uint32_t&#160;</td>
          <td class="paramname"><em>source_label_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const uint32_t&#160;</td>
          <td class="paramname"><em>target_label_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>normal_angle</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Returns true if the connection between source and target is convex. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">source_label_arg</td><td><a class="el" href="structpcl_1_1_label.html">Label</a> of one supervoxel connected to the edge that should be checked </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">target_label_arg</td><td><a class="el" href="structpcl_1_1_label.html">Label</a> of the other supervoxel connected to the edge that should be checked </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">normal_angle</td><td>The angle between source and target </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>True if connection is convex </dd></dl>
<div class="fragment"><div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;{</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;  <span class="keyword">typename</span> pcl::Supervoxel&lt;PointT&gt;::Ptr&amp; sv_source = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6e8c0fd169543d42903904b02d36239b">sv_label_to_supervoxel_map_</a>[source_label_arg];</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;  <span class="keyword">typename</span> pcl::Supervoxel&lt;PointT&gt;::Ptr&amp; sv_target = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6e8c0fd169543d42903904b02d36239b">sv_label_to_supervoxel_map_</a>[target_label_arg];</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160; </div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f&amp; source_centroid = sv_source-&gt;<a class="code" href="classpcl_1_1_supervoxel.html#a030f374dc5b401d58592add3e9c330e1">centroid_</a>.getVector3fMap ();</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f&amp; target_centroid = sv_target-&gt;<a class="code" href="classpcl_1_1_supervoxel.html#a030f374dc5b401d58592add3e9c330e1">centroid_</a>.getVector3fMap ();</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f&amp; source_normal = sv_source-&gt;<a class="code" href="classpcl_1_1_supervoxel.html#ac5769d51f73778b13c485deb6f326950">normal_</a>.getNormalVector3fMap (). normalized ();</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f&amp; target_normal = sv_target-&gt;<a class="code" href="classpcl_1_1_supervoxel.html#ac5769d51f73778b13c485deb6f326950">normal_</a>.getNormalVector3fMap (). normalized ();</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;  <span class="comment">//NOTE For angles below 0 nothing will be merged</span></div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a90f2ad90bee047f31f2c9ad4f3b0c158">concavity_tolerance_threshold_</a> &lt; 0)</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;  {</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;  }</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160; </div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;  <span class="keywordtype">bool</span> is_convex = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;  <span class="keywordtype">bool</span> is_smooth = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160; </div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;  normal_angle = <a class="code" href="group__common.html#ga54999c02ba9bee56404539747b0fda51">getAngle3D</a> (source_normal, target_normal, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;  <span class="comment">//  Geometric comparisons</span></div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;  Eigen::Vector3f vec_t_to_s, vec_s_to_t;</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;  </div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;  vec_t_to_s = source_centroid - target_centroid;</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;  vec_s_to_t = -vec_t_to_s;</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;  Eigen::Vector3f ncross;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;  ncross = source_normal.cross (target_normal);</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160; </div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;  <span class="comment">// Smoothness Check: Check if there is a step between adjacent patches</span></div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6c58a7748116a2fa0e9d820ffadb718a">use_smoothness_check_</a>)</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;  {</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    <span class="keywordtype">float</span> expected_distance = ncross.norm () * <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#aa9f7011e99af9d3849937ff5370c2e11">seed_resolution_</a>;</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;    <span class="keywordtype">float</span> dot_p_1 = vec_t_to_s.dot (source_normal);</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;    <span class="keywordtype">float</span> dot_p_2 = vec_s_to_t.dot (target_normal);</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;    <span class="keywordtype">float</span> point_dist = (std::fabs (dot_p_1) &lt; std::fabs (dot_p_2)) ? std::fabs (dot_p_1) : std::fabs (dot_p_2);</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> dist_smoothing = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#aa4b03eeae0ef4422a5e49b41455a098d">smoothness_threshold_</a> * <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a0998d8eabad97e8dbc57973b28d4b389">voxel_resolution_</a>;  <span class="comment">// This is a slacking variable especially important for patches with very similar normals</span></div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160; </div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;    <span class="keywordflow">if</span> (point_dist &gt; (expected_distance + dist_smoothing))</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;    {</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;      is_smooth &amp;= <span class="keyword">false</span>;</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;    }</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;  }</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;  <span class="comment">// ----------------</span></div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160; </div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;  <span class="comment">// Sanity Criterion: Check if definition convexity/concavity makes sense for connection of given patches</span></div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;  <span class="keywordtype">float</span> intersection_angle =  <a class="code" href="group__common.html#ga54999c02ba9bee56404539747b0fda51">getAngle3D</a> (ncross, vec_t_to_s, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;  <span class="keywordtype">float</span> min_intersect_angle = (intersection_angle &lt; 90.) ? intersection_angle : 180. - intersection_angle;</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160; </div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;  <span class="keywordtype">float</span> intersect_thresh = 60. * 1. / (1. + exp (-0.25 * (normal_angle - 25.)));</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;  <span class="keywordflow">if</span> (min_intersect_angle &lt; intersect_thresh &amp;&amp; <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a728844e11f8848c7400d7875bae92800">use_sanity_check_</a>)</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;  {</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;    <span class="comment">// std::cout &lt;&lt; &quot;Concave/Convex not defined for given case!&quot; &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;    is_convex &amp;= <span class="keyword">false</span>;</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;  }</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160; </div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160; </div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;  <span class="comment">// vec_t_to_s is the reference direction for angle measurements</span></div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;  <span class="comment">// Convexity Criterion: Check if connection of patches is convex. If this is the case the two supervoxels should be merged.</span></div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;  <span class="keywordflow">if</span> ((<a class="code" href="group__common.html#ga54999c02ba9bee56404539747b0fda51">getAngle3D</a> (vec_t_to_s, source_normal) - <a class="code" href="group__common.html#ga54999c02ba9bee56404539747b0fda51">getAngle3D</a> (vec_t_to_s, target_normal)) &lt;= 0)</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;  {</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;    is_convex &amp;= <span class="keyword">true</span>;  <span class="comment">// connection convex</span></div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;  }</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;  {</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;    is_convex &amp;= (normal_angle &lt; <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a90f2ad90bee047f31f2c9ad4f3b0c158">concavity_tolerance_threshold_</a>);  <span class="comment">// concave connections will be accepted  if difference of normals is small</span></div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;  }</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;  <span class="keywordflow">return</span> (is_convex &amp;&amp; is_smooth);</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a0998d8eabad97e8dbc57973b28d4b389"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a0998d8eabad97e8dbc57973b28d4b389">pcl::LCCPSegmentation::voxel_resolution_</a></div><div class="ttdeci">float voxel_resolution_</div><div class="ttdoc">Voxel resolution used to build the supervoxels (used only for smoothness check)</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:323</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a6c58a7748116a2fa0e9d820ffadb718a"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a6c58a7748116a2fa0e9d820ffadb718a">pcl::LCCPSegmentation::use_smoothness_check_</a></div><div class="ttdeci">bool use_smoothness_check_</div><div class="ttdoc">Determines if the smoothness check is used during segmentation</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a6e8c0fd169543d42903904b02d36239b"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a6e8c0fd169543d42903904b02d36239b">pcl::LCCPSegmentation::sv_label_to_supervoxel_map_</a></div><div class="ttdeci">std::map&lt; uint32_t, typename pcl::Supervoxel&lt; PointT &gt;::Ptr &gt; sv_label_to_supervoxel_map_</div><div class="ttdoc">map from the supervoxel labels to the supervoxel objects</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:339</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a728844e11f8848c7400d7875bae92800"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a728844e11f8848c7400d7875bae92800">pcl::LCCPSegmentation::use_sanity_check_</a></div><div class="ttdeci">bool use_sanity_check_</div><div class="ttdoc">Determines if we use the sanity check which tries to find and invalidate singular connected patches</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:317</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a90f2ad90bee047f31f2c9ad4f3b0c158"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a90f2ad90bee047f31f2c9ad4f3b0c158">pcl::LCCPSegmentation::concavity_tolerance_threshold_</a></div><div class="ttdeci">float concavity_tolerance_threshold_</div><div class="ttdoc">*** Parameters *** ///</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:302</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_aa4b03eeae0ef4422a5e49b41455a098d"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#aa4b03eeae0ef4422a5e49b41455a098d">pcl::LCCPSegmentation::smoothness_threshold_</a></div><div class="ttdeci">float smoothness_threshold_</div><div class="ttdoc">Two supervoxels are unsmooth if their plane-to-plane distance DIST &gt; (expected_distance + smoothness_...</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:314</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_aa9f7011e99af9d3849937ff5370c2e11"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#aa9f7011e99af9d3849937ff5370c2e11">pcl::LCCPSegmentation::seed_resolution_</a></div><div class="ttdeci">float seed_resolution_</div><div class="ttdoc">Seed resolution of the supervoxels (used only for smoothness check)</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:320</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_html_a030f374dc5b401d58592add3e9c330e1"><div class="ttname"><a href="classpcl_1_1_supervoxel.html#a030f374dc5b401d58592add3e9c330e1">pcl::Supervoxel::centroid_</a></div><div class="ttdeci">pcl::PointXYZRGBA centroid_</div><div class="ttdoc">The centroid of the supervoxel - average voxel</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_html_ac5769d51f73778b13c485deb6f326950"><div class="ttname"><a href="classpcl_1_1_supervoxel.html#ac5769d51f73778b13c485deb6f326950">pcl::Supervoxel::normal_</a></div><div class="ttdeci">pcl::Normal normal_</div><div class="ttdoc">The normal calculated for the voxels contained in the supervoxel</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:101</div></div>
<div class="ttc" id="agroup__common_html_ga54999c02ba9bee56404539747b0fda51"><div class="ttname"><a href="group__common.html#ga54999c02ba9bee56404539747b0fda51">pcl::getAngle3D</a></div><div class="ttdeci">double getAngle3D(const Eigen::Vector4f &amp;v1, const Eigen::Vector4f &amp;v2, const bool in_degree=false)</div><div class="ttdoc">Compute the smallest angle between two 3D vectors in radians (default) or degree.</div><div class="ttdef"><b>Definition:</b> common.hpp:46</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="ad1a810ce20594b9a9309c29f089f0d18"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad1a810ce20594b9a9309c29f089f0d18">&#9670;&nbsp;</a></span>doGrouping()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::doGrouping</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>Perform depth search on the graph and recursively group all supervoxels with convex connections </p><dl class="section note"><dt>注解</dt><dd>The vertices in the supervoxel adjacency list are the supervoxel centroids </dd></dl>
<div class="fragment"><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;{</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  <span class="comment">// clear the processed_ map</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#af38c9be4e674843ba21de27b73ca0189">seg_label_to_sv_list_map_</a>.clear ();</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::map&lt;uint32_t, <span class="keyword">typename</span> pcl::Supervoxel&lt;PointT&gt;::Ptr&gt;::iterator svlabel_itr = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6e8c0fd169543d42903904b02d36239b">sv_label_to_supervoxel_map_</a>.begin ();</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      svlabel_itr != <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6e8c0fd169543d42903904b02d36239b">sv_label_to_supervoxel_map_</a>.end (); ++svlabel_itr)</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  {</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="keyword">const</span> uint32_t&amp; sv_label = svlabel_itr-&gt;first;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a40779a978d7208a82cc9421c4033a1e4">processed_</a>[sv_label] = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#afb6ff37d270e3f16c69c46560a1fafce">sv_label_to_seg_label_map_</a>[sv_label] = 0;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  }</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  <span class="comment">// Perform depth search on the graph and recursively group all supervoxels with convex connections</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  <span class="comment">//The vertices in the supervoxel adjacency list are the supervoxel centroids</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  std::pair&lt; VertexIterator, VertexIterator&gt; vertex_iterator_range;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  vertex_iterator_range = boost::vertices (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <span class="comment">// Note: *sv_itr is of type &quot; boost::graph_traits&lt;VoxelAdjacencyList&gt;::vertex_descriptor &quot; which it nothing but a typedef of size_t..</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> segment_label = 1;  <span class="comment">// This starts at 1, because 0 is reserved for errors</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  <span class="keywordflow">for</span> (VertexIterator sv_itr = vertex_iterator_range.first; sv_itr != vertex_iterator_range.second; ++sv_itr)  <span class="comment">// For all supervoxels</span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  {</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    <span class="keyword">const</span> VertexID sv_vertex_id = *sv_itr;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    <span class="keyword">const</span> uint32_t&amp; sv_label = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>[sv_vertex_id];</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a40779a978d7208a82cc9421c4033a1e4">processed_</a>[sv_label])</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    {</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      <span class="comment">// Add neighbors (and their neighbors etc.) to group if similarity constraint is met</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a4a492a4362ba841361155407ef78c00e">recursiveSegmentGrowing</a> (sv_vertex_id, segment_label);</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      ++segment_label;  <span class="comment">// After recursive grouping ended (no more neighbors to consider) -&gt; go to next group</span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    }</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  }</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a40779a978d7208a82cc9421c4033a1e4"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a40779a978d7208a82cc9421c4033a1e4">pcl::LCCPSegmentation::processed_</a></div><div class="ttdeci">std::map&lt; uint32_t, bool &gt; processed_</div><div class="ttdoc">Stores which supervoxel labels were already visited during recursive grouping.</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:333</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a4a492a4362ba841361155407ef78c00e"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a4a492a4362ba841361155407ef78c00e">pcl::LCCPSegmentation::recursiveSegmentGrowing</a></div><div class="ttdeci">void recursiveSegmentGrowing(const VertexID &amp;queryPointID, const unsigned int group_label)</div><div class="ttdoc">Assigns neighbors of the query point to the same group as the query point. Recursive part of doGroupi...</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:341</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_af38c9be4e674843ba21de27b73ca0189"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#af38c9be4e674843ba21de27b73ca0189">pcl::LCCPSegmentation::seg_label_to_sv_list_map_</a></div><div class="ttdeci">std::map&lt; uint32_t, std::set&lt; uint32_t &gt; &gt; seg_label_to_sv_list_map_</div><div class="ttdoc">map &lt;Segment Label, std::set &lt;SuperVoxel Labels&gt; &gt;</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:346</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_afb6ff37d270e3f16c69c46560a1fafce"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#afb6ff37d270e3f16c69c46560a1fafce">pcl::LCCPSegmentation::sv_label_to_seg_label_map_</a></div><div class="ttdeci">std::map&lt; uint32_t, uint32_t &gt; sv_label_to_seg_label_map_</div><div class="ttdoc">Storing relation between original SuperVoxel Labels and new segmantion labels.</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:343</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="ac4d9e71e46c6be921687146b33e9deed"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac4d9e71e46c6be921687146b33e9deed">&#9670;&nbsp;</a></span>getConcavityToleranceThreshold()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">float <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getConcavityToleranceThreshold </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get normal threshold </p>
<dl class="section return"><dt>返回</dt><dd>The concavity tolerance angle in [deg] that is currently set </dd></dl>
<div class="fragment"><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      {</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a90f2ad90bee047f31f2c9ad4f3b0c158">concavity_tolerance_threshold_</a>);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="af5753af2e6779ce28ddc3ae6c137893d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af5753af2e6779ce28ddc3ae6c137893d">&#9670;&nbsp;</a></span>getSegmentAdjacencyMap()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getSegmentAdjacencyMap </td>
          <td>(</td>
          <td class="paramtype">std::map&lt; uint32_t, std::set&lt; uint32_t &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>segment_adjacency_map_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get map &lt;SegmentID, std::set&lt;Neighboring SegmentIDs&gt; &gt; </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">segment_adjacency_map_arg</td><td>map &lt; SegmentID, std::set&lt; Neighboring SegmentIDs&gt; &gt;. On error the map is empty. <br  />
 </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a428e19cb5f6711c7d2e20f31472a876a">grouping_data_valid_</a>)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        {</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;          <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a7f426262406a9f9cec6248cdfa5a205c">seg_label_to_neighbor_set_map_</a>.empty ())</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;            <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6a3d6ce5b725f4ba8989654bcb94c1e5">computeSegmentAdjacency</a> ();</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          segment_adjacency_map_arg = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a7f426262406a9f9cec6248cdfa5a205c">seg_label_to_neighbor_set_map_</a>;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;[pcl::LCCPSegmentation::getSegmentAdjacencyMap] WARNING: Call function segment first. Nothing has been done. \n&quot;</span>);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          segment_adjacency_map_arg = std::map&lt;uint32_t, std::set&lt;uint32_t&gt; &gt; ();</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a428e19cb5f6711c7d2e20f31472a876a"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a428e19cb5f6711c7d2e20f31472a876a">pcl::LCCPSegmentation::grouping_data_valid_</a></div><div class="ttdeci">bool grouping_data_valid_</div><div class="ttdoc">Marks if valid grouping data (sv_adjacency_list_, sv_label_to_seg_label_map_, processed_) is avaiable</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:305</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a6a3d6ce5b725f4ba8989654bcb94c1e5"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a6a3d6ce5b725f4ba8989654bcb94c1e5">pcl::LCCPSegmentation::computeSegmentAdjacency</a></div><div class="ttdeci">void computeSegmentAdjacency()</div><div class="ttdoc">Compute the adjacency of the segments</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:138</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a7f426262406a9f9cec6248cdfa5a205c"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a7f426262406a9f9cec6248cdfa5a205c">pcl::LCCPSegmentation::seg_label_to_neighbor_set_map_</a></div><div class="ttdeci">std::map&lt; uint32_t, std::set&lt; uint32_t &gt; &gt; seg_label_to_neighbor_set_map_</div><div class="ttdoc">map &lt; SegmentID, std::set&lt; Neighboring segment labels&gt; &gt;</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:349</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="ac07470079debf27fbd456e57995c4c2d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac07470079debf27fbd456e57995c4c2d">&#9670;&nbsp;</a></span>getSegmentToSupervoxelMap()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getSegmentToSupervoxelMap </td>
          <td>(</td>
          <td class="paramtype">std::map&lt; uint32_t, std::set&lt; uint32_t &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>segment_supervoxel_map_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get map&lt;SegmentID, std::set&lt;SuperVoxel IDs&gt; &gt; </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">segment_supervoxel_map_arg</td><td>The output container. On error the map is empty. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      {</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a428e19cb5f6711c7d2e20f31472a876a">grouping_data_valid_</a>)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;          segment_supervoxel_map_arg = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#af38c9be4e674843ba21de27b73ca0189">seg_label_to_sv_list_map_</a>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        {</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;[pcl::LCCPSegmentation::getSegmentMap] WARNING: Call function segment first. Nothing has been done. \n&quot;</span>);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          segment_supervoxel_map_arg = std::map&lt;uint32_t, std::set&lt;uint32_t&gt; &gt; ();</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="ac99912aeb217065259bff30d7d526a35"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac99912aeb217065259bff30d7d526a35">&#9670;&nbsp;</a></span>getSupervoxelToSegmentMap()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getSupervoxelToSegmentMap </td>
          <td>(</td>
          <td class="paramtype">std::map&lt; uint32_t, uint32_t &gt; &amp;&#160;</td>
          <td class="paramname"><em>supervoxel_segment_map_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get map&lt;Supervoxel_ID, Segment_ID&gt; </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">supervoxel_segment_map_arg</td><td>The output container. On error the map is empty. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a428e19cb5f6711c7d2e20f31472a876a">grouping_data_valid_</a>)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        {</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;          supervoxel_segment_map_arg = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#afb6ff37d270e3f16c69c46560a1fafce">sv_label_to_seg_label_map_</a>;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;[pcl::LCCPSegmentation::getSegmentMap] WARNING: Call function segment first. Nothing has been done. \n&quot;</span>);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;          supervoxel_segment_map_arg = std::map&lt;uint32_t, uint32_t&gt; ();</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="aed49f8015934b23055f2d307a8ee9f01"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aed49f8015934b23055f2d307a8ee9f01">&#9670;&nbsp;</a></span>getSVAdjacencyList()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getSVAdjacencyList </td>
          <td>(</td>
          <td class="paramtype">SupervoxelAdjacencyList &amp;&#160;</td>
          <td class="paramname"><em>adjacency_list_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get the supervoxel adjacency graph with classified edges (boost::adjacency_list). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">adjacency_list_arg</td><td>The supervoxel adjacency list with classified (convex/concave) edges. On error the list is empty. <br  />
 </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      {</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a428e19cb5f6711c7d2e20f31472a876a">grouping_data_valid_</a>)</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          adjacency_list_arg = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;[pcl::LCCPSegmentation::getSVAdjacencyList] WARNING: Call function segment first. Nothing has been done. \n&quot;</span>);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          adjacency_list_arg = pcl::LCCPSegmentation&lt;PointT&gt;::SupervoxelAdjacencyList ();</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a6336316795782b93b5caef627f2c4051"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6336316795782b93b5caef627f2c4051">&#9670;&nbsp;</a></span>prepareSegmentation()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::prepareSegmentation </td>
          <td>(</td>
          <td class="paramtype">const std::map&lt; uint32_t, typename <a class="el" href="classpcl_1_1_supervoxel.html">pcl::Supervoxel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Ptr &gt; &amp;&#160;</td>
          <td class="paramname"><em>supervoxel_clusters_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::multimap&lt; uint32_t, uint32_t &gt; &amp;&#160;</td>
          <td class="paramname"><em>label_adjacency_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Is called within <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a097a5b8996de53f1d955747eacbc8e8e">setInputSupervoxels</a> mainly to reserve required memory. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">supervoxel_clusters_arg</td><td>map of &lt; supervoxel labels, supervoxels &gt; </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">label_adjacency_arg</td><td>The graph defining the supervoxel adjacency relations </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;{</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  <span class="comment">// Clear internal data</span></div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#af5a6ac69bde329584570506c7c78b9af">reset</a> ();</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  <span class="comment">// Copy map with supervoxel pointers</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6e8c0fd169543d42903904b02d36239b">sv_label_to_supervoxel_map_</a> = supervoxel_clusters_arg;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  <span class="comment">//    Build a boost adjacency list from the adjacency multimap</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  std::map&lt;uint32_t, VertexID&gt; label_ID_map;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  <span class="comment">// Add all supervoxel labels as vertices</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::map&lt;uint32_t, <span class="keyword">typename</span> pcl::Supervoxel&lt;PointT&gt;::Ptr&gt;::iterator svlabel_itr = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6e8c0fd169543d42903904b02d36239b">sv_label_to_supervoxel_map_</a>.begin ();</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      svlabel_itr != <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6e8c0fd169543d42903904b02d36239b">sv_label_to_supervoxel_map_</a>.end (); ++svlabel_itr)</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  {</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="keyword">const</span> uint32_t&amp; sv_label = svlabel_itr-&gt;first;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    VertexID node_id = boost::add_vertex (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>);</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>[node_id] = sv_label;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    label_ID_map[sv_label] = node_id;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  }</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  <span class="comment">// Add all edges</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="keywordflow">for</span> (std::multimap&lt;uint32_t, uint32_t&gt;::const_iterator sv_neighbors_itr = label_adjaceny_arg.begin (); sv_neighbors_itr != label_adjaceny_arg.end ();</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      ++sv_neighbors_itr)</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  {</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <span class="keyword">const</span> uint32_t&amp; sv_label = sv_neighbors_itr-&gt;first;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="keyword">const</span> uint32_t&amp; neighbor_label = sv_neighbors_itr-&gt;second;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    VertexID u = label_ID_map[sv_label];</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    VertexID v = label_ID_map[neighbor_label];</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    boost::add_edge (u, v, <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  }</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  <span class="comment">// Initialization</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <span class="comment">// clear the processed_ map</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#af38c9be4e674843ba21de27b73ca0189">seg_label_to_sv_list_map_</a>.clear ();</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::map&lt;uint32_t, <span class="keyword">typename</span> pcl::Supervoxel&lt;PointT&gt;::Ptr&gt;::iterator svlabel_itr = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6e8c0fd169543d42903904b02d36239b">sv_label_to_supervoxel_map_</a>.begin ();</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      svlabel_itr != <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6e8c0fd169543d42903904b02d36239b">sv_label_to_supervoxel_map_</a>.end (); ++svlabel_itr)</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  {</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    <span class="keyword">const</span> uint32_t&amp; sv_label = svlabel_itr-&gt;first;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a40779a978d7208a82cc9421c4033a1e4">processed_</a>[sv_label] = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#afb6ff37d270e3f16c69c46560a1fafce">sv_label_to_seg_label_map_</a>[sv_label] = 0;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  }</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_af5a6ac69bde329584570506c7c78b9af"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#af5a6ac69bde329584570506c7c78b9af">pcl::LCCPSegmentation::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Reset internal memory.</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:74</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a4a492a4362ba841361155407ef78c00e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4a492a4362ba841361155407ef78c00e">&#9670;&nbsp;</a></span>recursiveSegmentGrowing()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::recursiveSegmentGrowing </td>
          <td>(</td>
          <td class="paramtype">const VertexID &amp;&#160;</td>
          <td class="paramname"><em>queryPointID</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const unsigned int&#160;</td>
          <td class="paramname"><em>group_label</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Assigns neighbors of the query point to the same group as the query point. Recursive part of <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#ad1a810ce20594b9a9309c29f089f0d18">doGrouping</a>. Grouping is done by a depth-search of nodes in the adjacency-graph. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">queryPointID</td><td>ID of point whose neighbors will be considered for grouping </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">group_label</td><td>ID of the group/segment the queried point belongs to <br  />
 </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;{</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  <span class="keyword">const</span> uint32_t&amp; sv_label = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>[query_point_id];</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a40779a978d7208a82cc9421c4033a1e4">processed_</a>[sv_label] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;  <span class="comment">// The next two lines add the supervoxel to the segment</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#afb6ff37d270e3f16c69c46560a1fafce">sv_label_to_seg_label_map_</a>[sv_label] = segment_label;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#af38c9be4e674843ba21de27b73ca0189">seg_label_to_sv_list_map_</a>[segment_label].insert (sv_label);</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  <span class="comment">// Iterate through all neighbors of this supervoxel and check wether they should be merged with the current supervoxel</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  std::pair&lt;OutEdgeIterator, OutEdgeIterator&gt; out_edge_iterator_range;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  out_edge_iterator_range = boost::out_edges (query_point_id, <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>);  <span class="comment">// adjacent vertices to node (*itr) in graph sv_adjacency_list_</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  <span class="keywordflow">for</span> (OutEdgeIterator out_Edge_itr = out_edge_iterator_range.first; out_Edge_itr != out_edge_iterator_range.second; ++out_Edge_itr)</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  {</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    <span class="keyword">const</span> VertexID neighbor_ID = boost::target (*out_Edge_itr, <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>);</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    <span class="keyword">const</span> uint32_t&amp; neighbor_label = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>[neighbor_ID];</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a40779a978d7208a82cc9421c4033a1e4">processed_</a>[neighbor_label])  <span class="comment">// If neighbor was not already processed</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    {</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>[*out_Edge_itr].is_valid)</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      {</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a4a492a4362ba841361155407ef78c00e">recursiveSegmentGrowing</a> (neighbor_ID, segment_label);</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      }</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    }</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  }  <span class="comment">// End neighbor loop</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a73b148531688cdb949bb9185e6ada8e9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a73b148531688cdb949bb9185e6ada8e9">&#9670;&nbsp;</a></span>relabelCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::relabelCloud </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_l.html">pcl::PointXYZL</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>labeled_cloud_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Relabels cloud with supervoxel labels with the computed segment labels. labeled_cloud_arg should be created using the getLabeledCloud method of the <a class="el" href="classpcl_1_1_supervoxel_clustering.html">SupervoxelClustering</a> class. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in,out]</td><td class="paramname">labeled_cloud_arg</td><td><a class="el" href="class_cloud.html" title="A wrapper which allows to use any implementation of cloud provided by a third-party library.">Cloud</a> to relabel <br  />
 </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;{</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a428e19cb5f6711c7d2e20f31472a876a">grouping_data_valid_</a>)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="comment">// Relabel all Points in cloud with new labels</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keyword">typename</span> pcl::PointCloud&lt;pcl::PointXYZL&gt;::iterator voxel_itr = labeled_cloud_arg.begin ();</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordflow">for</span> (; voxel_itr != labeled_cloud_arg.end (); ++voxel_itr)</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    {</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      voxel_itr-&gt;label = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#afb6ff37d270e3f16c69c46560a1fafce">sv_label_to_seg_label_map_</a>[voxel_itr-&gt;label];</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  {</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::LCCPSegmentation::relabelCloud] WARNING: Call function segment first. Nothing has been done. \n&quot;</span>);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a8ef6896e6fabc91e26f7f9dfff757753"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8ef6896e6fabc91e26f7f9dfff757753">&#9670;&nbsp;</a></span>segment()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::segment</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Merge supervoxels using local convexity. The input parameters are generated by using the <a class="el" href="classpcl_1_1_supervoxel_clustering.html">SupervoxelClustering</a> class. To retrieve the output use the <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a73b148531688cdb949bb9185e6ada8e9">relabelCloud</a> method. </p>
<dl class="section note"><dt>注解</dt><dd>There are three ways to retrieve the segmentation afterwards: <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a73b148531688cdb949bb9185e6ada8e9">relabelCloud</a>, getSegmentSupervoxelMap and getSupervoxelSegmentMap </dd></dl>
<div class="fragment"><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;{</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a0ebcf3b12da8ec8ff9029a4bc77292b6">supervoxels_set_</a>)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="comment">// Calculate for every Edge if the connection is convex or invalid</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="comment">// This effectively performs the segmentation.</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a64ade0e74f07da2c8100a1a9d5d46e00">calculateConvexConnections</a> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="comment">// Correct edge relations using extended convexity definition if k&gt;0</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#ad918a280410d18af75bad10b3134e5ab">applyKconvexity</a> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#ab56b15cb177706d688e6773368e123e2">k_factor_</a>);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="comment">// group supervoxels</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#ad1a810ce20594b9a9309c29f089f0d18">doGrouping</a> ();</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a428e19cb5f6711c7d2e20f31472a876a">grouping_data_valid_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="comment">// merge small segments</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a7f0ada4d9a4918d9dbb9e33e32b23d46">mergeSmallSegments</a> ();</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::LCCPSegmentation::segment] WARNING: Call function setInputSupervoxels first. Nothing has been done. \n&quot;</span>);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a0ebcf3b12da8ec8ff9029a4bc77292b6"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a0ebcf3b12da8ec8ff9029a4bc77292b6">pcl::LCCPSegmentation::supervoxels_set_</a></div><div class="ttdeci">bool supervoxels_set_</div><div class="ttdoc">Marks if supervoxels have been set by calling setInputSupervoxels</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:308</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a64ade0e74f07da2c8100a1a9d5d46e00"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a64ade0e74f07da2c8100a1a9d5d46e00">pcl::LCCPSegmentation::calculateConvexConnections</a></div><div class="ttdeci">void calculateConvexConnections(SupervoxelAdjacencyList &amp;adjacency_list_arg)</div><div class="ttdoc">Calculates convexity of edges and saves this to the adjacency graph.</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:437</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a7f0ada4d9a4918d9dbb9e33e32b23d46"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a7f0ada4d9a4918d9dbb9e33e32b23d46">pcl::LCCPSegmentation::mergeSmallSegments</a></div><div class="ttdeci">void mergeSmallSegments()</div><div class="ttdoc">Segments smaller than min_segment_size_ are merged to the label of largest neighbor</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:171</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_ab56b15cb177706d688e6773368e123e2"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#ab56b15cb177706d688e6773368e123e2">pcl::LCCPSegmentation::k_factor_</a></div><div class="ttdeci">uint32_t k_factor_</div><div class="ttdoc">Factor used for k-convexity</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:326</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_ad1a810ce20594b9a9309c29f089f0d18"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#ad1a810ce20594b9a9309c29f089f0d18">pcl::LCCPSegmentation::doGrouping</a></div><div class="ttdeci">void doGrouping()</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:308</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_ad918a280410d18af75bad10b3134e5ab"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#ad918a280410d18af75bad10b3134e5ab">pcl::LCCPSegmentation::applyKconvexity</a></div><div class="ttdeci">void applyKconvexity(const unsigned int k_arg)</div><div class="ttdoc">Connections are only convex if this is true for at least k_arg common neighbors of the two patches....</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:371</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="abc2b7be596c2785fb8664922bbca7177"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abc2b7be596c2785fb8664922bbca7177">&#9670;&nbsp;</a></span>setConcavityToleranceThreshold()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setConcavityToleranceThreshold </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>concavity_tolerance_threshold_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set normal threshold </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">concavity_tolerance_threshold_arg</td><td>the concavity tolerance angle in [deg] to set </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a90f2ad90bee047f31f2c9ad4f3b0c158">concavity_tolerance_threshold_</a> = concavity_tolerance_threshold_arg;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a097a5b8996de53f1d955747eacbc8e8e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a097a5b8996de53f1d955747eacbc8e8e">&#9670;&nbsp;</a></span>setInputSupervoxels()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setInputSupervoxels </td>
          <td>(</td>
          <td class="paramtype">const std::map&lt; uint32_t, typename <a class="el" href="classpcl_1_1_supervoxel.html">pcl::Supervoxel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Ptr &gt; &amp;&#160;</td>
          <td class="paramname"><em>supervoxel_clusters_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::multimap&lt; uint32_t, uint32_t &gt; &amp;&#160;</td>
          <td class="paramname"><em>label_adjacency_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the supervoxel clusters as well as the adjacency graph for the segmentation.Those parameters are generated by using the <a class="el" href="classpcl_1_1_supervoxel_clustering.html">SupervoxelClustering</a> class. To retrieve the output use the <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a8ef6896e6fabc91e26f7f9dfff757753">segment</a> method. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">supervoxel_clusters_arg</td><td>Map of &lt; supervoxel labels, supervoxels &gt; </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">label_adjacency_arg</td><td>The graph defining the supervoxel adjacency relations <br  />
 </td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>Implicitly calls <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#af5a6ac69bde329584570506c7c78b9af">reset</a> </dd></dl>
<div class="fragment"><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="comment">// Initialization</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6336316795782b93b5caef627f2c4051">prepareSegmentation</a> (supervoxel_clusters_arg, label_adjacency_arg);  <span class="comment">// after this, sv_adjacency_list_ can be used to access adjacency list</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a0ebcf3b12da8ec8ff9029a4bc77292b6">supervoxels_set_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a6336316795782b93b5caef627f2c4051"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a6336316795782b93b5caef627f2c4051">pcl::LCCPSegmentation::prepareSegmentation</a></div><div class="ttdeci">void prepareSegmentation(const std::map&lt; uint32_t, typename pcl::Supervoxel&lt; PointT &gt;::Ptr &gt; &amp;supervoxel_clusters_arg, const std::multimap&lt; uint32_t, uint32_t &gt; &amp;label_adjacency_arg)</div><div class="ttdoc">Is called within setInputSupervoxels mainly to reserve required memory.</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:257</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="affa15262ca3f2713ee31412d88697d36"></a>
<h2 class="memtitle"><span class="permalink"><a href="#affa15262ca3f2713ee31412d88697d36">&#9670;&nbsp;</a></span>setKFactor()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setKFactor </td>
          <td>(</td>
          <td class="paramtype">const uint32_t&#160;</td>
          <td class="paramname"><em>k_factor_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the value used for k convexity. For k&gt;0 convex connections between p_i and p_j require k common neighbors of these patches that have a convex connection to both. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">k_factor_arg</td><td>factor used for extended convexity check </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#ab56b15cb177706d688e6773368e123e2">k_factor_</a> = k_factor_arg;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a700734f0f748fdda3110c7924232e9c9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a700734f0f748fdda3110c7924232e9c9">&#9670;&nbsp;</a></span>setMinSegmentSize()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setMinSegmentSize </td>
          <td>(</td>
          <td class="paramtype">const uint32_t&#160;</td>
          <td class="paramname"><em>min_segment_size_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the value <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a3cbd29b0450bed2d70257ab13bf5bf38">min_segment_size_</a> used in <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html#a7f0ada4d9a4918d9dbb9e33e32b23d46">mergeSmallSegments</a> </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">min_segment_size_arg</td><td>Segments smaller than this size will be merged </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      {</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a3cbd29b0450bed2d70257ab13bf5bf38">min_segment_size_</a> = min_segment_size_arg;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a3cbd29b0450bed2d70257ab13bf5bf38"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a3cbd29b0450bed2d70257ab13bf5bf38">pcl::LCCPSegmentation::min_segment_size_</a></div><div class="ttdeci">uint32_t min_segment_size_</div><div class="ttdoc">Minimum segment size</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:329</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="afcbcd533f01655310bec5f17c5213c65"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afcbcd533f01655310bec5f17c5213c65">&#9670;&nbsp;</a></span>setSanityCheck()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setSanityCheck </td>
          <td>(</td>
          <td class="paramtype">const bool&#160;</td>
          <td class="paramname"><em>use_sanity_criterion_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Determines if we want to use the sanity criterion to invalidate singular connected patches </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">use_sanity_criterion_arg</td><td>Determines if the sanity check is performed </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      {</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a728844e11f8848c7400d7875bae92800">use_sanity_check_</a> = use_sanity_criterion_arg;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a391f12ac00e266066391bbff3fd1d823"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a391f12ac00e266066391bbff3fd1d823">&#9670;&nbsp;</a></span>setSmoothnessCheck()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setSmoothnessCheck </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>use_smoothness_check_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>voxel_res_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>seed_res_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>smoothness_threshold_arg</em> = <code>0.1</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Determines if a smoothness check is done during segmentation, trying to invalidate edges of non-smooth connected edges (steps). Two supervoxels are unsmooth if their plane-to-plane distance DIST &gt; (expected_distance + smoothness_threshold_*voxel_resolution_). For parallel supervoxels, the expected_distance is zero. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">use_smoothness_check_arg</td><td>Determines if the smoothness check is used </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">voxel_res_arg</td><td>The voxel resolution used for the supervoxels that are segmented </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">seed_res_arg</td><td>The seed resolution used for the supervoxels that are segmented </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">smoothness_threshold_arg</td><td>Threshold (/fudging factor) for smoothness constraint according to the above formula. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6c58a7748116a2fa0e9d820ffadb718a">use_smoothness_check_</a> = use_smoothness_check_arg;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a0998d8eabad97e8dbc57973b28d4b389">voxel_resolution_</a> = voxel_res_arg;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#aa9f7011e99af9d3849937ff5370c2e11">seed_resolution_</a> = seed_res_arg;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#aa4b03eeae0ef4422a5e49b41455a098d">smoothness_threshold_</a> = smoothness_threshold_arg;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<h2 class="groupheader">类成员变量说明</h2>
<a id="a90f2ad90bee047f31f2c9ad4f3b0c158"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a90f2ad90bee047f31f2c9ad4f3b0c158">&#9670;&nbsp;</a></span>concavity_tolerance_threshold_</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">float <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::concavity_tolerance_threshold_</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>*** Parameters *** /// </p>
<p><a class="el" href="structpcl_1_1_normal.html" title="A point structure representing normal coordinates and the surface curvature estimate....">Normal</a> Threshold in degrees [0,180] used for merging </p>

</div>
</div>
<a id="a40779a978d7208a82cc9421c4033a1e4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a40779a978d7208a82cc9421c4033a1e4">&#9670;&nbsp;</a></span>processed_</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">std::map&lt;uint32_t, bool&gt; <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::processed_</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Stores which supervoxel labels were already visited during recursive grouping. <br  />
 </p>
<dl class="section note"><dt>注解</dt><dd>processed_[sv_Label] = false (default)/true (already processed) </dd></dl>

</div>
</div>
<a id="afb6ff37d270e3f16c69c46560a1fafce"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afb6ff37d270e3f16c69c46560a1fafce">&#9670;&nbsp;</a></span>sv_label_to_seg_label_map_</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">std::map&lt;uint32_t, uint32_t&gt; <a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::sv_label_to_seg_label_map_</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Storing relation between original SuperVoxel Labels and new segmantion labels. </p>
<dl class="section note"><dt>注解</dt><dd>sv_label_to_seg_label_map_[old_labelID] = new_labelID </dd></dl>

</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>segmentation/include/pcl/segmentation/<a class="el" href="lccp__segmentation_8h_source.html">lccp_segmentation.h</a></li>
<li>segmentation/include/pcl/segmentation/impl/<a class="el" href="lccp__segmentation_8hpp_source.html">lccp_segmentation.hpp</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><b>pcl</b></li><li class="navelem"><a class="el" href="classpcl_1_1_l_c_c_p_segmentation.html">LCCPSegmentation</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
